Libbarrett is a real-time controls library written in C++ that runs Barrett Technology's products, including the WAM Arm and the BH8-280/282 BarrettHand.

This version of libbarrett is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation.

Latest Version: Libbarrett-1.2.4

Getting started

  1. Install Libbarrett
  2. After installation, look through the example code in your home directory: ~/libbarrett_examples/
  3. When you're ready, copy the ~/libbarrett_examples/CMakeLists.txt file to another directory to start writing your own code.

You may also want to calibrate your WAM using the bt-wam-zerocal and bt-wam-gravitycal programs that are installed with the library. Instructions for running bt-wam-zerocal can be found here:

Running bt-wam-gravitycal is pretty self-explanatory. Let us know if you have any problems.

Periodic tensioning of the WAM cables is advised at every ~80 hours of WAM usage. You may now calibrate your WAM using bt-wam-autotension. Instructions for running bt-wam-autotension can be found here:


Last modified 8 years ago Last modified on Sep 19, 2016, 7:37:20 PM